SLAM @ HKU-MaRS
1. Introduction
1.1 Introduction to HKU-MaRS lab
Welcome to the Mechatronics and Robotic Systems (MaRS) Laboratory, located in the Department of Mechanical Engineering at the prestigious University of Hong Kong (HKU). Our mission is to push the boundaries of mechatronic systems and robotics, by emphasizing practical applications that can improve human life and industry.
At MaRS Lab, our current research focuses on the design, planning, and control of aerial robots, as well as lidar-based simultaneous localization and mapping (SLAM). We believe that these technologies can have a significant impact on many fields, from search and rescue operations to agriculture and beyond.
1.2 Introduction to this repository
In this GitHub repository, we present our latest research works related to SLAM, organized chronologically by their publication date. These works showcase our team's innovative ideas, rigorous methodologies, and cutting-edge solutions in the field of robotics. We hope that our work inspires you, and we welcome collaboration and feedback from the robotics community.
1.3 Contributors (organized by letter A-Z)
- Fu Zhang (Supervisor) 张富(导师)
- Chonjiang Yuan 袁崇健
- Chunrang Zheng 郑纯然
- Dongjiao He 贺东娇
- Fangcheng Zhu 朱方程
- Jiarong Lin 林家荣
- Wei Xu 徐威
- Xiyuan Liu 刘晰源
- Yixi Cai 蔡逸熙
- Zheng Liu 刘政
1.4 Acknowledgement (TODO)
Todo
1.5 Relative Talks and seminars
2. SLAM researches @ HKU-MaRS
Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
- Author: Jiarong Lin, Fu Zhang
- Date: 2020/05
- Accepted to ICRA2020
- Github (★1.2k): https://github.com/hku-mars/loam_livox
- Category: LiDAR SLAM
- Relative notes & articles:
A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs
- Author: Jiarong Lin, Xiyuan Liu, Fu Zhang
- Date: 2020/10
- Accepted to IROS2020
- Github (★171): https://github.com/hku-mars/decentralized_loam
- Category: LiDAR SLAM; Multi-LiDAR fusion
- Relative notes & articles:
ikd-Tree: An Incremental K-D Tree for Robotic Applications
- Author: Yixi Cai, Wei Xu, Fu Zhang
- Date: 2021/02
- Github (★415): https://github.com/hku-mars/ikd-Tree
- Category: LiDAR SLAM, Map Structure
- Relative notes & articles:
Balm: Bundle adjustment for lidar mapping
- Author: Zheng Liu, Fu Zhang
- Date: 2021/03
- Accepted to RA-L2021
- Github (★436): https://github.com/hku-mars/BALM
- Category: LiDAR Bundle adjustment
Fast-lio: A fast, robust lidar-inertial odometry package by tightly-coupled iterated kalman filter
- Author: Wei Xu, Fu Zhang
- Date: 2021/03
- Accepted to RA-L2021
- Github (★1.4K): https://github.com/hku-mars/FAST_LIO
- Category: LiDAR SLAM; LiDAR-Inertial fusion
- Relative notes & articles:
Extrinsic Calibration of Multiple LiDARs of Small FoV in Targetless Environments
- Author: Xiyuan Liu, Fu Zhang
- Date: 2021/04
- Accepted to RA-L2021
- Category: LiDAR-LiDAR calibration
R2LIVE: A Robust, Real-Time, LiDAR-Inertial-Visual Tightly-Coupled State Estimator and Mapping
- Author: Jiarong Lin, Chunran Zheng, Wei Xu, Fu Zhang
- Date: 2021/07
- Accepted to RA-L2021
- Github (★622): https://github.com/hku-mars/r2live
- Category: LiDAR SLAM; LiDAR-Inertial-Visual fusion
- Relative notes & articles:
Pixel-level extrinsic self calibration of high resolution lidar and camera in targetless environments
- Author: Chongjian Yuan, Xiyuan Liu, Xiaoping Hong, Fu Zhang
- Date: 2021/07
- Accepted to RA-L2021
- Github (★549): https://github.com/hku-mars/livox_camera_calib
- Category: LiDAR-Camera calibration
- Relative notes & articles:
Fast-lio2: Fast direct lidar-inertial odometry
- Author: Wei Xu, Yixi Cai, Dongjiao He, Jiarong Lin, Fu Zhang
- Date: 2021/07
- Accepted to T-RO2022
- Github (★1.4K): https://github.com/hku-mars/FAST_LIO
- Category: LiDAR SLAM; LiDAR-Inertial fusion
- Relative notes & articles:
R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
- Author: Jiarong Lin, Fu Zhang
- Date: 2021/09
- Accepted to ICRA2022
- Github (★1.4K): https://github.com/hku-mars/r3live
- Category: LiDAR SLAM; LiDAR-Inertial-Visual fusion
- Relative notes & articles:
Robust real-time lidar-inertial initialization
- Author: Fangcheng Zhu, Yunfan Ren, Fu Zhang
- Date: 2022/02
- Accepted to IROS2022
- Github (★516): https://github.com/hku-mars/LiDAR_IMU_Init
- Category: LiDAR-IMU calibration
- Relative Notes & Articles 论文解读 Robust Real-time LiDAR-inertial Initialization (IROS2022)
FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
- Author: Chunran Zheng, Qingyan Zhu, Wei Xu, Xiyuan Liu, Qizhi Guo, Fu Zhang
- Date: 2022/03
- Accepted to IROS2022
- Github (★533): https://github.com/hku-mars/FAST-LIVO
- Category: LiDAR SLAM; LiDAR-Inertial-Visual fusion
- Relative notes & articles:
Targetless extrinsic calibration of multiple small FoV LiDARs and cameras using adaptive voxelization
- Author: Xiyuan Liu, Chongjian Yuan, Fu Zhang
- Date: 2022/05
- Accepted to TIM2022
- Github (★278): https://github.com/hku-mars/mlcc
- Category: LiDAR-LiDAR & LiDAR-Camera calibration
Efficient and probabilistic adaptive voxel mapping for accurate online lidar odometry
- Author: Chongjian Yuan, Wei Xu, Xiyuan Liu, Xiaoping Hong, Fu Zhang
- Date: 2022/07
- Accepted to RA-L2022
- Github (★274): https://github.com/hku-mars/VoxelMap
- Category: LiDAR SLAM
- Relative notes & articles:
R3LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator
- Author: Jiarong Lin, Fu Zhang
- Date: 2022/09
- Under review
- Github (★1.4K): https://github.com/hku-mars/r3live
- Category: LiDAR SLAM; LiDAR-Inertial-Visual fusion
- Relative notes & articles:
STD: Stable Triangle Descriptor for 3D place recognition
- Author: Chongjian Yuan*, Jiarong Lin*, Zuhao Zou, Xiaoping Hong, Fu Zhang
- Date: 2022/09
- Accepted to ICRA2023
- Github (★197): https://github.com/hku-mars/STD
- Category: loop detection & closure
Decentralized LiDAR-inertial Swarm Odometry
- Author: Fangcheng Zhu, Yunfan Ren, Fanze Kong, Huajie Wu, Siqi Liang, Nan Chen, Wei Xu, Fu Zhang
- Date: 2022/09
- Accepted to ICRA2023
- Category: LiDAR SLAM; Multi-LiDAR fusion
Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment
- Author: Xiyuan Liu, Zheng Liu, Fanze Kong, Fu Zhang
- Date: 2023/03
- Accepted to RA-L2023
- Category: LiDAR Bundle Adjustment
Efficient and Consistent Bundle Adjustment on Lidar Point Clouds
- Author: Zheng Liu, Xiyuan Liu, Fu Zhang
- Date: 2022/09
- Under review
- Github (★436): https://github.com/hku-mars/BALM
- Category: LiDAR Bundle Adjustment
Symbolic Representation and Toolkit Development of Iterated Error-State Extended Kalman Filters on Manifolds
- Author: Dongjiao He, Wei Xu, Fu Zhang
- Date: 2023/01
- Accepted to TIE2023
- Github (★248): https://github.com/hku-mars/IKFoM
- Category: LiDAR SLAM
ImMesh: An Immediate LiDAR Localization and Meshing Framework
- Author: Jiarong Lin*, Chongjiang Yuan*, Yixi Cai, Haotian Li, Yuying Zou, Xiaoping Hong, Fu Zhang
- Date: 2023/01
- Under review
- Github (★277): https://github.com/hku-mars/ImMesh
- Category: LiDAR SLAM
Point-LIO: Robust High-Bandwidth Lidar-Inertial Odometry
- Author: Dongjiao He, Wei Xu, Nan Chen, Fanze Kong, Chongjian Yuan, Fu Zhang
- Date: 2023/03
- Accepted to AIS2023
- Github (★278): https://github.com/hku-mars/Point-LIO
- Category: LiDAR SLAM; LiDAR-Inertial fusion